The ESI data ingested by github.com/linuxcnc-ethercat/esi-data describes 1 revision(s) of this hardware. Here are the known revisions and their differences.
This also includes the send and receive PDOs defined for each revision, and a link to other known devices with identical PDOs.
| Revision | r17 |
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| Name | ELM7221-0011 1Ch. Servo Terminal (DS402, 48 V, 8 A RMS, OCT) |
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| PID | 0x50227559 |
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| Revision Code | 0x0011000b |
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| Equivalant Devices | ELM7211-0011 r17 |
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| TX PDOs | 0x1a00: DS402 Position actual value |
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0x6064:00 Position actual value DINT (32 bits) |
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0x1a02: DS402 TxPDO Data Invalid |
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0x603e:02 TxPDO Data invalid__Position actual value BOOL |
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0x1a03: DS402 Touch probe status |
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0x60b9:00 Touch probe status UINT (16 bits) |
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0x1a04: DS402 Touch probe 1 positive edge |
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0x60ba:00 Touch probe 1 positive edge DINT (32 bits) |
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0x1a05: DS402 Touch probe 1 negative edge |
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0x60bb:00 Touch probe 1 negative edge DINT (32 bits) |
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0x1a06: DS402 Touch probe 2 positive edge |
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0x60bc:00 Touch probe 2 positive edge DINT (32 bits) |
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0x1a07: DS402 Touch probe 2 negative edge |
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0x60bd:00 Touch probe 2 negative edge DINT (32 bits) |
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0x1a08: DS402 Touch probe time stamp 1 positive value |
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0x60d1:00 Touch probe time stamp 1 positive value UDINT (32 bits) |
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0x1a09: DS402 Touch probe time stamp 1 negative value |
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0x60d2:00 Touch probe time stamp 1 negative value UDINT (32 bits) |
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0x1a0a: DS402 Touch probe time stamp 2 positive value |
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0x60d3:00 Touch probe time stamp 2 positive value UDINT (32 bits) |
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0x1a0b: DS402 Touch probe time stamp 2 negative value |
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0x60d4:00 Touch probe time stamp 2 negative value UDINT (32 bits) |
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0x1a10: DS402 Statusword |
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0x6041:00 Statusword UINT (16 bits) |
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0x1a11: DS402 Following error actual value |
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0x60f4:00 Following error actual value DINT (32 bits) |
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0x1a12: DS402 Velocity actual value |
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0x606c:00 Velocity actual value DINT (32 bits) |
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0x1a13: DS402 Torque actual value |
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0x6077:00 Torque actual value INT (16 bits) |
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0x1a14: DS402 Info data 1 |
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0x1a15: DS402 Info data 2 |
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0x1a16: DS402 Info data 3 |
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0x1a17: DS402 Modes of operation display |
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0x6061:00 Modes of operation display SINT (8 bits) |
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0x1a18: DS402 Torque limitation status |
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0x60cc:00 Torque limitation status USINT (8 bits) |
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0x1a19: DS402 Digital Inputs |
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0x60fd:00 Digital Inputs UDINT (32 bits) |
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0x1a80: DRV Brake Chopper Inputs |
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| RX PDOs | 0x1600: DS402 Touch probe function |
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0x60b8:00 Touch probe function UINT (16 bits) |
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0x1610: DS402 Controlword |
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0x6040:00 Controlword UINT (16 bits) |
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0x1611: DS402 Target position |
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0x607a:00 Target position DINT (32 bits) |
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0x1612: DS402 Target velocity |
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0x60ff:00 Target velocity DINT (32 bits) |
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0x1613: DS402 Target torque |
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0x6071:00 Target torque INT (16 bits) |
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0x1614: DS402 Commutation angle |
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0x60ea:00 Commutation angle UINT (16 bits) |
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0x1615: DS402 Velocity offset |
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0x60b1:00 Velocity offset DINT (32 bits) |
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0x1616: DS402 Torque offset |
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0x60b2:00 Torque offset INT (16 bits) |
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0x1617: DS402 Torque limitation |
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0x6072:00 Max torque UINT (16 bits) |
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0x1618: DS402 Positive Torque limit value |
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0x60e0:00 Positive torque limit value UINT (16 bits) |
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0x1619: DS402 Negative Torque limit value |
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0x60e1:00 Negative torque limit value UINT (16 bits) |
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0x161a: DS402 Modes of operation |
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0x6060:00 Modes of operation SINT (8 bits) |
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0x161b: DS402 Low velocity limit value |
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0x60c8:00 Low velocity limit value DINT (32 bits) |
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0x161c: DS402 High velocity limit value |
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0x60c9:00 High velocity limit value DINT (32 bits) |